Dissolve yeast in warm water in a large mixing bowl. Stir in milk, sugar salt, egg and softened butter; beat with electric mixer until well combined. Add 2 cups flour; mix on low until smooth. Stir in enough remaining flour so the dough is easy to handle.

Turn dough out onto lightly floured surface and knead, adding small amounts of flour until dough is smooth and elastic. Place dough in a greased bowl and turn the dough greased-side up. Cover and let rise in a warm place until double, about 1½ hours. Dough is ready if an indentation remains when touched. Punch dough down. Divide into two equal sections. Roll, or pat out each piece to a rectangle about 7-by-15-inches. Brush each piece with melted butter and sprinkle evenly with cinnamon and sugar. Roll dough into loaf starting at the short side of rectangle. Tuck ends under loaf, then place in greased loaf pans. Let rise 20-30 minutes.

Heat oven to 375 degrees. Bake until loaves are golden brown, 50-55 minutes. If loaves sound hallow when tapped, they are done.

For the icing: In a small bowl combine the milk, powdered sugar and almond extract; stir until well combined. Drizzle over bread.

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